A method for controlling dual independent camshaft phasers in an internal combustion engine. The method has three basic steps: a) first, determining if rate balancing between the two phasers is required; b) second, determining the optimal rate balancing commands; and c) third, applying the determined rate balancing commands to the appropriate phaser(s). In determining the rate balancing commands, there are three possible phaser options: the intake phaser requires priority; the exhaust phaser requires priority; or neither phaser requires priority. Lookup tables are stored in the engine controller for each option. When either phaser has priority, the other phaser is actuated after a delay based upon the position error of the priority phaser, generally at a lower phase rate. When neither phaser has priority, both phasers are actuated at a rate consistent with oil-delivery capabilities of the engine.